diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
index eba38f9e..30cce16a 100644
--- a/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
+++ b/rmf_fleet_adapter/src/rmf_fleet_adapter/TaskManager.cpp
@@ -199,7 +199,7 @@ TaskManagerPtr TaskManager::make(
       TaskStateUpdateTopicName, reliable_transient_qos);
   mgr->_task_log_update_pub =
     mgr->_context->node()->create_publisher<TaskLogUpdateMsg>(
-      TaskLogUpdateTopicName, reliable_transient_qos);
+      TaskLogUpdateTopicName, reliable_transient_qos.keep_last(100));
 
   const std::vector<nlohmann::json> schemas = {
     rmf_api_msgs::schemas::task_state,
diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
index 5dbb491d..e8ef93b9 100644
--- a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
+++ b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
@@ -544,10 +544,10 @@ class FleetUpdateHandle::Implementation
 
     handle->_pimpl->fleet_state_update_pub =
       handle->_pimpl->node->create_publisher<FleetStateUpdateMsg>(
-        FleetStateUpdateTopicName, reliable_transient_qos);
+        FleetStateUpdateTopicName, reliable_transient_qos.keep_last(10));
     handle->_pimpl->fleet_log_update_pub =
       handle->_pimpl->node->create_publisher<FleetLogUpdateMsg>(
-        FleetLogUpdateTopicName, reliable_transient_qos);
+        FleetLogUpdateTopicName, reliable_transient_qos.keep_last(100));
 
     // Add PerformAction event to deserialization
     auto validator = handle->_pimpl->deserialization.make_validator_shared(